Image stabilization for electronic devices such as cameras

ABSTRACT

An electronic device includes an image sensor configured to receive light that is incident on the electronic device through a lens and generate image data, a gyroscope configured to generate rotation motion data of the electronic device, and an image stabilizer configured to generate translation motion data of the electronic device based on the image data received from the image sensor and to generate a stabilized image by compensating for a motion of the electronic device while capturing the image, such as vibration of a handheld device. The stabilized image is generated based on filtered translation motion data obtained by performing a first filtering operation on the translation motion data and filtered rotation motion data obtained by performing a second filtering operation on the rotation motion data received from the gyroscope.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of Korean Patent Application No.10-2018-0120592, filed on Oct. 10, 2018, in the Korean IntellectualProperty Office, the disclosure of which is incorporated herein in itsentirety by reference.

BACKGROUND

Portable electronic devices such as smartphones, tablet personalcomputers (PCs), and smartwatches exhibit various functions have beenexpanded recently. Cameras may be included in portable electronicdevices such as smartphones and tablet PCs, with which users may capturean image with a portable electronic device in daily life. In a casewhere a user photographs or records still images and/or video of anexternal object using a handheld electronic device, vibration of theuser's hand may reduce the quality of a generated image. For electronicdevices equipped with cameras that are capable of high magnificationand/or high resolution, it may be difficult to obtain a sharp image dueto manual vibration.

SUMMARY

According to an example embodiment, an electronic device may include animage sensor configured to receive light transmitted through a lens andto generate image data; a gyroscope configured to generate rotationmotion data of the electronic device; and an image stabilizer configuredto generate translation motion data of the electronic device based onthe image data received from the image sensor, perform a first filteringoperation on the translation motion data to generate filteredtranslation motion data, perform a second filtering operation on therotation motion data received from the gyroscope to generate filteredrotation motion data, and generate a stabilized image based at least onthe filtered translation motion data and the filtered rotation motiondata, wherein generating the stabilized image compensates for motion ofthe electronic device while capturing an image.

According to an example embodiment, a camera may include a lens, agyroscope configured to generate rotation motion data, an image sensorconfigured to generate image data from light transmitted through thelens, and an image stabilizer configured to generate translation motiondata based on the image data received from the image sensor, receive therotation motion data from the gyroscope, perform a first filteringoperation on the translation motion data to generate filteredtranslation motion data, perform a second filtering operation on therotation motion data to generate filtered rotation motion data, andgenerate a stabilized image based at least on the filtered translationmotion data and the filtered rotation motion data, wherein generatingthe stabilized image compensates for rotational and/or translationalmotion of the camera while capturing an image.

According to an example embodiment, an image stabilizing method of anelectronic device including a lens may include receiving image databased on light transmitted through the lens, accumulating rotationmotion data obtained by a gyroscope to generate accumulated rotationmotion data, accumulating translation motion data based on the imagedata to generate accumulated translation motion data, filtering (using afirst filter) the accumulated translation motion data to generatefiltered translation motion data, filtering (using a second filter) theaccumulated rotation motion data to generate filtered rotation motiondata, and generating a stabilized image based at least on the filteredtranslation motion data and the filtered rotation motion data, whereingenerating the stabilized image compensates for motion of the electronicdevice while capturing an image.

DESCRIPTION OF THE DRAWINGS

The example embodiments presented herein may be understood from thefollowing detailed description taken in conjunction with theaccompanying drawings in which:

FIG. 1 is a diagram illustrating an electronic device according to anexample embodiment;

FIGS. 2A to 2C are diagrams illustrating an electronic device fordescribing a translation motion and a rotation motion of the electronicdevice;

FIG. 3 is a diagram illustrating a sensor and a camera according to anexample embodiment;

FIG. 4 is a diagram illustrating a motion information generatoraccording to an example embodiment;

FIG. 5 is a flowchart of a motion information generating method of anelectronic device, according to an example embodiment;

FIG. 6 is a diagram illustrating a motion information generatoraccording to an example embodiment;

FIG. 7 is a flowchart of a motion information generating method of anelectronic device, according to an example embodiment;

FIG. 8A is a graph showing accumulated translation motion data andfiltered translation motion data with respect to time, according to anexample embodiment;

FIG. 8B is a diagram showing accumulated translation motion dataaccording to an example embodiment;

FIG. 9A is a graph showing accumulated rotation motion data and filteredrotation motion data with respect to time, according to an exampleembodiment;

FIG. 9B is a diagram showing accumulated rotation motion data accordingto an example embodiment;

FIG. 10 is a diagram illustrating a motion information generatoraccording to an example embodiment;

FIG. 11 is a diagram illustrating a motion information generatoraccording to an example embodiment;

FIG. 12 is a flowchart of a motion information generating method of anelectronic device, according to an example embodiment;

FIG. 13 is a diagram illustrating an adder according to an exampleembodiment;

FIG. 14 is a flowchart of a motion information generating method of anelectronic device, according to an example embodiment; and

FIG. 15 is a diagram illustrating an electronic device according to anexample embodiment.

DETAILED DESCRIPTION

Hereinafter, example embodiments will be described in detail withreference to the accompanying drawings.

FIG. 1 is a diagram illustrating an electronic device 10 configuredaccording to some example embodiments presented herein. The electronicdevice 10 may include a bus 100, a processor 200, a memory 300, a sensor400, and a camera 500. In some example embodiments, the electronicdevice 10 may include at least one of a smartphone, a tablet personalcomputer (PC), a mobile phone, an image or video phone, an e-bookreader, a desktop PC, a laptop PC, a netbook PC, a workstation, apersonal digital assistant (PDA), a portable multimedia player (PMP), anMP3 player, a mobile medical device, a camera, and a wearable device.Examples of the wearable device may include accessory wearable devices,such as electronic watches, electronic rings, electronic bracelets,electronic ankle bracelets, electronic necklaces, glasses, contactlenses, and head-mounted devices (HMDs), and bio-implantable wearabledevices such as implantable circuits.

The bus 100 may denote a communication channel for communication amongthe elements included in the electronic device 10. FIG. 1 illustratesthe electronic device 10 including one bus 100, but example embodimentsare not limited thereto. In other example embodiments, the electronicdevice 10 may include a plurality of buses.

The processor 200 may control an overall operation of the electronicdevice 10. For example, the processor 200 may be a central processingunit (CPU). The processor 200 may include one processor core, or mayinclude a plurality of processor cores (for example, a multicore). Theprocessor 200 may process or execute programs and/or data stored in thememory 300. In an example embodiment, the processor 200 may execute theprograms stored in the memory 300 to control a function of theelectronic device 10.

The memory 300 may be a storage for storing data, and for example, maystore an operating system (OS), various programs, and various pieces ofdata. The memory 300 may include at least one of a volatile memory and anon-volatile memory. The non-volatile memory may include read onlymemory (ROM), programmable read only memory (PROM), erasableprogrammable read only memory (EPROM), electrical erasable programmableread only memory (EEPROM), flash memory, phase-change random accessmemory (PRAM), magnetoresistive random access memory (MRAM), resistiverandom access memory (RRAM), and ferroelectric random access memory(FRAM). The volatile memory may include dynamic random access memory(DRAM), static random access memory (SRAM), and synchronous DRAM(SDRAM). The memory 300 may include at least one of hard disk drive(HDD), solid state drive (SSD), CompactFlash (CF), Secure Digital (SD),Micro Secure Digital (Micro-SD), Mini Secure Digital (Mini-SD), eXtremeDigital (xD), and Memory Stick. The memory 300 may permanently,semi-permanently, or temporarily store programs and instructionsexecuted by the processor 200.

The sensor 400 may collect various pieces of information about aperiphery of the electronic device 10. For example, the sensor 400 mayinclude a gyroscope that is configured to obtain data about a rotationmotion of the electronic device 10. Other examples of sensors 400include an ultrasonic sensor, an infrared sensor, an accelerationsensor, and a gravity sensor. Also, the electronic device 10 may beincluded in the camera 500 or the sensor 400, based on an implementationtype of the electronic device 10.

The camera 500 may generate image data of an object outside theelectronic device 10. The image data may be used to produce a stillimage, such as a picture, or a sequence of images, such as a video. Thecamera 500 may perform at least one of various image processing on theimage data. The camera 500 may include a lens 520 and an image sensor540, and moreover, may include an image signal processor. The imagesignal processor may include an image stabilizer 560, but forconvenience of description, FIG. 1 illustrates only an image stabilizer560 among elements included in the image signal processor.

The lens 520 may collect light reflected by the object outside theelectronic device 10. The lens 520 may provide the collected light tothe image sensor 540.

The image sensor 540 may receive the light transmitted through the lens520 and may generate image data. To this end, the image sensor 540 mayinclude a pixel array where a plurality of pixels are two-dimensionallyarranged. For example, one of a plurality of reference colors may beallocated to each of the plurality of pixels. For example, the pluralityof reference colors may include red, green, and blue (RGB) or red,green, blue, and white (RGBW). In an example embodiment, the imagesensor 540 may be implemented with a charge-coupled device (CCD) or acomplementary metal oxide semiconductor (CMOS). The image data generatedby the image sensor 540 may be referred to as an image frame or framedata. The image sensor 540 may generate image data to be presented as astill image, such as a photograph. The image sensor 540 may alsogenerate a sequence of image data at time intervals, such as a video.The frequency at which the image sensor 540 produces image data,corresponding to a period where a new image is generated, may bereferred to as a framerate. In other words, a framerate may representthe number of pieces of image data which are newly generated per unittime.

The image stabilizer 560 may perform image processing on the image dataprovided from the image sensor 540. For example, the image stabilizer560 may obtain information about a motion of the electronic device 10including the camera 500 to compensate for the motion of the electronicdevice 10 with respect to the image data. In an example embodiment, anoperation of the image stabilizer 560 may be activated in aphotographing mode, such as a moving image photographing mode, a timelapse photographing mode, or a panorama photographing mode of theelectronic device 10, for obtaining pieces of image data.

In an example embodiment, the image stabilizer 560 may obtaintranslation motion data of the electronic device 10 by using the imagedata provided from the image sensor 540. The translation motion data mayinclude first axis-direction translation motion data and secondaxis-direction translation motion data, and a translation motion of theelectronic device 10 will be described below in more detail withreference to FIGS. 2A to 2C.

In an example embodiment, the image stabilizer 560 may receive rotationmotion data of the electronic device 10 from the gyroscope included inthe sensor 400. The rotation motion data may include firstaxis-direction rotation motion data, second axis-direction rotationmotion data, and third axis-direction rotation motion data, and arotation motion of the electronic device 10 will be described below inmore detail with reference to FIGS. 2A to 2C.

In some example embodiments, an image stabilizer 560 may be configuredto generate a stabilized image from image data, wherein generating thestabilized image compensates for translational motion and/or rotationalmotion. Analysis of rotational motion based on a sensor 400 such as agyroscope 420 may include rotational motion due to handheld vibration ofthe camera, but analysis of the image data received from the imagesensor 540, from which the translational motion is identified, mayinclude both translational motion as well as rotational motion due tohandheld vibration of the camera. If image stabilization is performed inwhich a rotational component of the motion of the electronic deviceaffects both the determination of translational motion and thedetermination of rotational motion, the resulting compensation may beinaccurate. However, vibration of a handheld camera may result inrotational motion that is rapid and transient, while translationalmotion of the image may be incremental and progressive. In some exampleembodiments, image stabilization may distinguish between the rotationalmotion component due to handheld vibration and the translation motioncomponent of the motion in order to apply the translational imagecompensation selectively to the translational motion and the rotationalimage compensation selectively to the rotational motion due to handheldvibration.

In some example embodiments, a high-pass filter may be applied to therotational motion detected by the sensor 400 such as a gyroscope 420,producing a first motion determination that may be selective for rapidand transient rotational motion such as may result from vibration of ahandheld device, and a low-pass filter may be applied to thetranslational motion detected through image analysis, producing adetermination that may be selective for incremental and progressivetranslational motion. For example, an image stabilizer 560 may perform afirst filtering operation on the obtained translation motion data toobtain filtered translation motion data. In an example embodiment, theimage stabilizer 560 may accumulate translation motion data to obtainaccumulated translation motion data and may divide the accumulatedtranslation motion data by a focal length of the lens 520 to obtainadjusted translation motion data, and moreover, may perform the firstfiltering operation on the adjusted translation motion data to obtainfiltered translation motion data. The image stabilizer 560 may perform asecond filtering operation on the received rotation motion data toobtain filtered rotation motion data. The second filtering operation maybe a filtering operation having a complementary relationship with thefirst filtering operation. In an example embodiment, the first filteringoperation may be a low pass filtering operation, and the secondfiltering operation may be a high pass filtering operation. In anexample embodiment, the low pass filtering operation may include aGaussian low pass filtering operation and an infinite impulse (IIR)filtering operation, and the high pass filtering operation may include aGaussian high pass filtering operation and a Butterworth filteringoperation.

In an example embodiment, the image stabilizer 560 may generate motioninformation about the electronic device 10 based at least on thefiltered translation motion data and the filtered rotation motion data.The image stabilizer 560 may use the generated motion information togenerate the stabilized image. That is, the image stabilizer 560 maycompensate for a motion of the electronic device 10 based on the motioninformation, in a manner that selectively compensates for rotationalmotion due to the handheld device and/or that selectively compensatesfor translational motion as distinguished from vibration-basedrotational motion.

The image stabilizer 560 may be implemented as various types, and insome example embodiments, the image stabilizer 560 may be implemented asa hardware type or a software type. For example, when the imagestabilizer 560 is implemented as a hardware type, the image stabilizer560 may include a plurality of circuits that receive image data andperform image processing on the received image data. Also, for example,when the image stabilizer 560 is implemented as a software type, aseparate processor (not shown) included in the processor 200 or thecamera 500 may execute programs and/or instructions loaded into thememory 300, thereby performing an image processing operation. In otherwords, it may be described that the separate processor included in theprocessor 200 or the camera 500 executes programs included in the imagestabilizer 560 to perform the above-described image processingoperation. However, the present disclosure is not limited to the exampleembodiments, and the image stabilizer 560 may be implemented, likefirmware, as a type where software is combined with hardware.

In an example embodiment, the electronic device 10 may perform the firstfiltering operation on translation motion data obtained from image data,perform the second filtering operation on rotation motion data obtainedfrom the gyroscope, and generate omnidirectional motion informationabout the electronic device 10 based on the filtered data.

FIGS. 2A to 2C are diagrams illustrating an electronic device fordescribing a translation motion and a rotation motion of the electronicdevice. In FIGS. 2A to 2C, external features of the electronic device,such as a position and a size of a camera lens and a shape of theelectronic device, are merely examples presented for convenience ofdescription, and the present disclosure is not limited thereto.

Referring to FIG. 2A, a space where the electronic device is providedmay be a three-dimensional (3D) space including a first axis direction,a second axis direction, and a third axis direction. Herein, forconvenience of description, an axis of the first axis direction may beused as an x axis in the space, an axis of the second axis direction maybe used as a y axis in the space, and an axis of the third axisdirection may be used as a z axis in the space. Also, the x axis, the yaxis, and the z axis may be defined so that a plane expressed through acombination of an x axis direction and a y axis direction is parallel toa plane on which a camera of the electronic device is located. In otherwords, a direction along the x axis may be parallel to a direction inwhich light is incident on the camera in a normal direction. Theelectronic device may be manipulated by a user (a photographer) of theelectronic device, and in this case, the electronic device mayunexpectedly move.

Referring to FIG. 2B, the electronic device may move in the x axisdirection or may rotate in the x axis direction. An x axis-directiontranslation motion of the electronic device may represent a motion wherea centroid of the electronic device moves in the x axis direction. An xaxis-direction rotation motion of the electronic device may represent amotion where the electronic device rotates in the x axis direction withrespect to the centroid of the electronic device. For convenience ofdescription, a motion where the electronic device rotates in the x axisdirection may be referred to as an x axis-direction rotation motion ofthe electronic device.

Referring to FIG. 2C, the electronic device may move in the y axisdirection or may rotate in the y axis direction. A y axis-directiontranslation motion of the electronic device may represent a motion wherea centroid of the electronic device moves in the y axis direction. A yaxis-direction rotation motion of the electronic device may represent amotion where the electronic device rotates in the y axis direction withrespect to the centroid of the electronic device. For convenience ofdescription, a motion where the electronic device rotates in the y axisdirection may be referred to as a y axis-direction rotation motion ofthe electronic device.

Although not shown in FIGS. 2B and 2C, the electronic device may rotatealong the z axis. A motion where the electronic device rotates in the zaxis direction with respect to the centroid of the electronic device maybe referred to as a z axis-direction rotation motion of the electronicdevice.

FIG. 3 is a diagram illustrating a sensor 400 and a camera 500 accordingto an example embodiment. In describing the sensor 400 and the camera500 of FIG. 3, descriptions already given with reference to FIG. 1 areomitted. The sensor 400 and the camera 500 will be described withreference to FIG. 3 in conjunction with FIG. 1.

The sensor 400 may include a gyroscope 420. The gyroscope 420 maymeasure a rotation motion of the electronic device 10 including thegyroscope 420 by using the angular momentum principle. The gyroscope 420may generate rotation motion data RMD including information about anangle at which the electronic device 10 performs a rotation motion withrespect to a reference state. In an example embodiment, the rotationmotion data RMD may include first axis-direction rotation motion data,second axis-direction rotation motion data, and third axis-directionrotation motion data.

The camera 500 may include a lens 520, an image sensor 540, and an imagestabilizer 560. The image stabilizer 560 may include a motion estimator561, a motion information generator 562, and a motion compensator 569.

In some example embodiments, each of the image stabilizer 560, motionestimator 561, motion generator 562, and/or motion compensator 569 maybe implemented as processing circuitry, such as a general-purposehardware processor (e.g., a CPU); a specialized hardware processor suchas a graphics processor (GPU); and/or a virtual processor, such as avirtual machine that is implemented by an emulator and/or hypervisor. Insome example embodiments, the image stabilizer 560, motion estimator561, motion generator 562, and/or motion compensator 569 may beimplemented as an application-specific integrated circuit (ASIC); afield-programmable gate array (FPGA); and/or a combination of discretecomponents such as transistors. In some example embodiments, the imagestabilizer 560, motion estimator 561, motion generator 562, and/ormotion compensator 569 may be implemented as software instructions thatare stored in a volatile or nonvolatile memory, and that are executed bya processor and/or that are used to configure a hardware device such asan FPGA, wherein execution of the instructions causes the hardwaredevice to implement an image stabilizer. Further, while the exampleembodiment of FIG. 3 depicts an image stabilizer 560 that includes themotion estimator 561, the motion generator 562, and the motioncompensator 569, it is to be appreciated that the number, functionality,factoring, and/or interaction of the elements of the image stabilizer560 may vary in accordance with the subject matter of the presentdisclosure.

The motion estimator 561 may generate translation motion data TMD of theelectronic device 10, based on image data IMG received from the imagesensor 540. In an example embodiment, the motion estimator 561 maygenerate the translation motion data TMD from pieces of image data IMGreceived at a plurality of viewpoints. In an example embodiment, themotion estimator 561 may obtain the translation motion data TMD, basedon a translational motion of an object included in the image data IMG.The motion estimator 561 may provide the generated translation motiondata TMD to the motion information generator 562.

The motion information generator 562 may receive the translation motiondata TMD from the motion estimator 561 and may receive the rotationmotion data RMD from the gyroscope 420. The motion information generator562 may perform a first filtering operation on the translation motiondata TMD, perform a second filtering operation on the rotation motiondata RMD, and generate motion information MI based on the filteredtranslation motion data and the filtered rotation motion data. Themotion information MI may represent information including a motion ofthe electronic device 10 based on a translation motion and a rotationmotion of the electronic device 10.

In some example embodiments, the motion information generator 562 mayaccumulate translation motion data over a period of time, and maygenerate accumulated translation motion data. In an example embodiment,the motion information generator 562 may divide the accumulatedtranslation motion data by a focal length of the lens 520 to generateadjusted translation motion data and perform the first filteringoperation on the adjusted translation motion data to generate filteredtranslation motion data. In an example embodiment, the motioninformation generator 562 may accumulate rotation motion data with timeto generate accumulated rotation motion data and may perform the secondfiltering operation on the accumulated rotation motion data to generatefiltered rotation motion data.

In some example embodiments, the first filtering operation and thesecond filtering operation may represent a complementary filteringoperation therebetween. In an example embodiment, the first filteringoperation may be a low pass filtering operation, and the secondfiltering operation may be a band pass filtering operation.

The motion information generator 562 may provide the generated motioninformation MI to the motion compensator 569. The image stabilizer 560may include a motion compensator 569 that compensates the image dataIMG, based on the motion information MI provided from the motioninformation generator 562, thereby generating a compensated imageIMG_comp. In other words, the motion compensator 569 may compensate fora motion of the electronic device 10 with respect to the image data IMG,based on the motion information MI, thereby generating the compensatedimage IMG_comp. Therefore, the image stabilizer 560 may output thecompensated image data IMG_comp as an image that is sharper than theimage data IMG. As a first example, if the movement information MIindicates translational motion to the left by a determined distance, themotion compensator 569 may compensate by shifting the image produced bythe image sensor 540 to the right by the determined distance. As asecond example, if the movement information MI indicates downwardtranslational motion by a determined distance, the motion compensator569 may compensate by shifting the image produced by the image sensor540 upward by the determined distance. As a third example, if themovement information MI indicates clockwise rotational motion around aZ-axis by a determined angle, the motion compensator 569 may compensateby rotating the image produced by the image sensor 504 in ananticlockwise rotational motion by the determined angle. If the movementinformation MI indicates movement along multiple translational and/orrotational axes, the motion compensator 569 may compensate by applyingmultiple forms of shifting, rotating, and the like, corresponding to themovement along each axis.

The electronic device 10 according to an example embodiment may performthe first filtering operation on translation motion data obtained fromimage data, perform the second filtering operation on rotation motiondata obtained from a gyroscope, and generate omnidirectional motioninformation about the electronic device 10 based on the filteredtranslation motion data and the filtered rotational motion data.

In an example embodiment, the image stabilizer 560 compensates for amotion of the electronic device 10 by sampling the translation in arelatively low-frequency band and sampling rotation in a relativelyhigh-frequency band. Motion information MI for image compensation may beobtained by performing a complementary filtering operation on each oftranslation motion data and rotation motion data.

FIG. 4 is a diagram illustrating a motion information generator 562according to an example embodiment. In describing the motion informationgenerator 562, the previously presented description of FIG. 3 isomitted. The following description of the motion information generator562 may be understood with reference to FIGS. 1, 3, and 4.

The motion information generator 562 may include a first motionaccumulator 563, a second motion accumulator 564, a first filter 565, asecond filter 566, and an adder 567.

The first motion accumulator 563 may accumulate translation motion dataTMD to generate accumulated translation motion data TMD_acc. Thetranslation motion data TMD and the accumulated translation motion dataTMD_acc may represent translation along one axis-direction or alongseveral axis-directions. The accumulated translation motion data TMD_accmay be data having a one-dimensional (1D) matrix form. The first motionaccumulator 563 may add the translation motion data TMD to an n^(th)element of the accumulated translation motion data TMD_acc to generatean (n+1)^(th) element of the accumulated translation motion dataTMD_acc. The accumulated translation motion data TMD_acc may begenerated as expressed in the following Equation (1):TMD_acc [n+1]=TMD_acc [n]+TMD   (1)

A frequency at which data is newly accumulated to the accumulatedtranslation motion data TMD_acc may be referred to as a frequency ofaccumulated translation motion data. In an example embodiment, thefrequency of the accumulated translation motion data may be equal to orless than a framerate at which the image sensor 540 provides the imagedata IMG.

The second motion accumulator 564 may accumulate rotation motion dataRMD to generate accumulated rotation motion data RMD_acc. The rotationmotion data RMD and the accumulated rotation motion data RMD_acc mayrepresent rotation of one axis-direction or of several axis-directions.The accumulated rotation motion data RMD_acc may be data having a 1Dmatrix form. The second motion accumulator 564 may add the rotationmotion data RMD to an m^(th) element of the accumulated rotation motiondata RMD_acc to generate an (m+1)^(th) element of the accumulatedrotation motion data RMD_acc. The accumulated rotation motion dataRMD_acc may be generated as expressed in the following Equation (2):RMD_acc [m+1]=RMD_acc [m]+RMD   (2)

The first filter 565 may perform a first filtering operation on theaccumulated translation motion data TMD_acc to generate filteredtranslation motion data TMD_filt. The first filter 565 may be a low passfilter. In an example embodiment, the first filter 565 may be one ofvarious low pass filters such as a Gaussian low pass filter and an IIRfilter.

The second filter 566 may perform a second filtering operation on theaccumulated rotation motion data RMD_acc to generate filtered rotationmotion data RMD_filt. The second filter 566 may be a filter having acomplementary relationship with the first filter 565. The second filter566 may be a high pass filter. In an example embodiment, the secondfilter 566 may be one of various high pass filters such as a Gaussianhigh pass filter and a Butterworth filter. Also, in an exampleembodiment, the second filter 566 may be a high pass filter that isimplemented with a low pass filter and a subtractor that subtracts thelow-pass filtered data from the unfiltered data.

The adder 567 may generate the motion information MI based on thefiltered translation motion data TMD_filt and the filtered rotationmotion data RMD_filt. For example, the adder 567 may sum and/or averageat least a portion of the filtered translation motion data TMD_filt andat least a portion of the filtered rotation motion data RMD_filt togenerate the motion information MI. In an example embodiment, thefiltered translation motion data TMD_filt may include filtered firstaxis-direction translation motion data and filtered secondaxis-direction translation motion data, and the filtered rotation motiondata RMD_filt may include filtered first axis-direction rotation motiondata, filtered second axis-direction rotation motion data, and filteredthird axis-direction rotation motion data. In an example embodiment, theadder 567 may combine (e.g., summing and/or averaging) the filteredfirst axis-direction translation motion data and the filtered firstaxis-direction rotation motion data to generate first motioninformation, combine the filtered second axis-direction translationmotion data and the filtered second axis-direction rotation motion datato generate second motion information, and generate the filtered thirdaxis-direction translation motion data as third motion information. Theadder 567 may output the first motion information, the second motioninformation, and the third motion information as the motion informationMI.

FIG. 5 is a flowchart of a motion information generating method of anelectronic device according to an example embodiment. The motioninformation generating method will be described below with reference toFIG. 5 in conjunction with FIGS. 1, 3, and 4. The flowcharts presentedand discussed herein, including FIG. 5, may depict a set of operationsthat are arranged in a certain order. However, it is to be appreciatedthat the arrangement of the operations may be only one example, and thatoperations may be added, removed, reordered, and/or performedconcurrently in accordance with the subject matter of the presentdisclosure.

In operation S120, the electronic device 10 may generate translationmotion data based on image data received from the image sensor. In anexample embodiment, the translation motion data is obtained asaccumulated translation motion data TMC_acc.

In operation S140, the electronic device 10 may perform a firstfiltering of the translation motion data (such as the accumulatedtranslation motion data TMD_acc) to generate filtered translation motiondata. In an example embodiment, the first filtering may involve applyinga first filter 565 included in the motion information generator 562 tothe accumulated translation motion data TMD_acc to generate the filteredtranslation motion data TMD_filt. In an example embodiment, the firstfilter 565 may be a low pass filter.

In operation S160, the electronic device 10 may perform a secondfiltering operation on rotation motion data received from a gyroscope(such as accumulated rotation motion data RMD_acc) to generate filteredrotation motion data. In an example embodiment, the second filtering mayinvolve applying a second filter 566 included in the motion informationgenerator 562 to the accumulated rotation motion data RMD_acc togenerate the filtered rotation motion data RMD_filt. In an exampleembodiment, the second filtering operation may have a complementaryrelationship with the first filtering operation. In one such exampleembodiment, the first filter 565 may be a low-pass filter, and thesecond filter 566, as a complementary filtering process, may be ahigh-pass filter. In an example embodiment, the second filter 566 may bea band pass filter.

In operation S180, the electronic device 10 may generate a stabilizedimage based at least on the filtered translation motion data and thefiltered rotation motion data. The stabilized image generated using thefiltered translation motion data and the filtered rotation motion datamay compensate for motion of the electronic device while capturing theimage. In some example embodiments, the generating may use motioninformation MI that is based, at least, on the filtered translationmotion data TMD_filt and the filtered rotation motion data RMD_filt. Inan example embodiment, an adder 567 included in the motion informationgenerator 562 may perform an operation of combining (e.g., summing oraveraging) at least a portion of the filtered translation motion dataTMD_filt and at least a portion of the filtered rotation motion dataRMD_filt to generate the motion information MI.

FIG. 6 is a diagram illustrating a motion information generator 562according to an example embodiment. In describing the motion informationgenerator 562, description already given with reference to FIGS. 3 and 5is omitted. The motion information generator 562 will be described belowwith reference to FIG. 6 in conjunction with FIGS. 1 and 3.

The motion information generator 562 may further include a divider 568in addition to a configuration of the motion information generator 562of FIG. 5.

The divider 568 may receive accumulated translation motion data TMD_accfrom a first motion accumulator 563 and may divide the accumulatedtranslation motion data TMD_acc by a focal length of the lens 520 togenerate adjusted translation motion data TMD_adj. In this case, thedivider 568 may first perform an operation of matching the accumulatedtranslation motion data TMD_acc with a unit of the focal length. Forexample, in a case where a unit of each of pieces of data included inthe accumulated translation motion data TMD_acc is a pixel, a divisionoperation may be performed after a unit of the focal length, so that aunit of the focal length of the lens 520 becomes a pixel. As a result,the divider 568 may match a unit of the accumulated translation motiondata TMD_acc with a unit of the accumulated rotation motion dataRMD_acc.

The first filter 565 may perform a first filtering operation on theadjusted translation motion data TMD_adj provided by the divider 568 togenerate filtered translation motion data TMD_filt.

By using the motion information generator 562 according to an exampleembodiment, the electronic device 10 may perform the first filteringoperation and the second filtering operation on each of accumulatedtranslation motion data and accumulated rotation motion data, andmoreover, may match units of filtered translation motion data andfiltered rotation motion data combined by the adder 567.

FIG. 7 is a flowchart of a motion information generating method of anelectronic device, according to an example embodiment. The motioninformation generating method will be described below with reference toFIG. 7 in conjunction with FIGS. 1, 3, and 6.

In operation S210, the electronic device 10 may divide the accumulatedtranslation motion data TMD_acc by a focal length of the lens 520 togenerate adjusted translation motion data TMD_adj. In an exampleembodiment, the divider 568 included in the motion information generator562 may divide the accumulated translation motion data TMD_acc by thefocal length of the lens 520 to generate the adjusted translation motiondata TMD_adj.

In operation S220, the electronic device 10 may filter the adjustedtranslation motion data TMD_adj by using the first filter 565. In anexample embodiment, the first filter 565 included in the motioninformation generator 562 may perform a first filtering operation on theadjusted translation motion data TMD_adj to generate the filteredtranslation motion data TMD_filt. In an example embodiment, the firstfilter 565 may be a low pass filter.

In operation S240, the electronic device 10 may filter the accumulatedrotation motion data RMD_acc by using the second filter 566. In anexample embodiment, the second filter 566 included in the motioninformation generator 562 may perform a second filtering operation onthe accumulated rotation motion data RMD_acc to generate the filteredrotation motion data RMD_filt. In an example embodiment, the secondfiltering operation may have a complementary relationship with the firstfiltering operation. Also, in an example embodiment, the second filter566 may be a band pass filter.

In operation S260, the electronic device 10 may generate the motioninformation MI based on the filtered translation motion data TMD_filtand the filtered rotation motion data RMD_filt. In an exampleembodiment, the adder 567 included in the motion information generator562 may sum and/or average at least a portion of the filteredtranslation motion data TMD_filt and at least a portion of the filteredrotation motion data RMD_filt to generate the motion information MI.

In operation S270, the electronic device 10 may generate a stabilizedimage based at least on the motion information MI, wherein generatingthe stabilized image compensates for the motion of the electronic devicewhile capturing the image.

FIG. 8A is a graph showing accumulated translation motion data TMD_accand filtered translation motion data TMD_filt with respect to time,according to an example embodiment.

An accumulated translation motion curve 601 may represent a graph of theaccumulated translation motion data TMD_acc with respect to time. In they axis of the graph, 0 may represent an initial position of anelectronic device, and the accumulated translation motion curve 601 mayrepresent a graph where pieces of data corresponding to one directionamong pieces of data included in the accumulated translation motion dataTMD_acc are plotted with respect to time, and then, plotted dots areconnected.

A filtered translation motion curve 602 may represent a graph of thefiltered translation motion data TMD_filt with respect to time. Thefiltered translation motion data TMD_filt may be data obtained byperforming a low pass filtering operation on the accumulated translationmotion data TMD_acc.

In some example embodiments, an electronic device may adjust image datato compensate for translation motion of the electronic device based ontranslation motion that includes low-frequency components but nothigh-frequency components. In an example embodiment, an electronicdevice may use filtered translation motion data TMD_filt, representing agraph such as the accumulated translation motion curve 601 from which ahigh frequency component is removed, to adjust the image data in amanner that may compensate for the translation motion.

In some example embodiments, although not shown in the graph, anelectronic device may compensate for image data based on a rotationmotion that includes high-frequency components but not low-frequencycomponents. In an example embodiment, an electronic device may remove alow frequency component from the accumulated translation motion dataTMD_acc and may use the filtered translation motion data TMD_filt toadjust the image data in a manner that may compensate for the rotationalmotion.

FIG. 8B is a diagram showing accumulated translation motion data TMD_accaccording to an example embodiment. The accumulated translation motiondata TMD_acc may represent a 1D matrix form. The accumulated translationmotion data TMD_acc may include n (where n is a natural number) numberof elements. An electronic device may accumulate translation motion datato generate the accumulated translation motion data TMD_acc and maymanage the accumulated translation motion data TMD_acc. The electronicdevice may perform a first filtering operation on the accumulatedtranslation motion data TMD_acc to generate filtered translation motiondata.

FIG. 9A is a graph showing accumulated rotation motion data RMD_acc andfiltered rotation motion data RMD_filt with respect to time, accordingto an example embodiment.

An accumulated rotation motion curve 901 may represent a graph of theaccumulated rotation motion data RMD_acc with respect to time. In the yaxis of the graph, 0 may represent an initial position of an electronicdevice, and the accumulated rotation motion curve 901 may represent agraph where pieces of data corresponding to one direction among piecesof data included in the accumulated rotation motion data RMD_acc areplotted with respect to time, and then, plotted dots are connected.

A filtered rotation motion curve 902 may represent a graph of thefiltered rotation motion data RMD_filt with respect to time. Thefiltered rotation motion data RMD_filt may be data obtained byperforming a high pass filtering operation on the accumulated rotationmotion data RMD_acc.

FIG. 9B is a diagram showing accumulated rotation motion data RMD_accaccording to an example embodiment. The accumulated rotation motion dataRMD_acc may represent a 1D matrix form. The accumulated rotation motiondata RMD_acc may include m (where m is a natural number) number ofelements. An electronic device may accumulate rotation motion data togenerate the accumulated rotation motion data RMD_acc and may manage theaccumulated rotation motion data RMD_acc. The electronic device mayperform a second filtering operation on the accumulated rotation motiondata RMD_acc to generate filtered rotation motion data.

FIG. 10 is a diagram illustrating a motion information generator 562according to an example embodiment. In describing the motion informationgenerator 562, description already given with reference to FIG. 6 isomitted.

In FIG. 10, unlike FIG. 6, a first filter 565 may be a low pass filter565, and a second filter 566 may be a band pass filter 566.

As described above with reference to FIG. 8A, in a process of generatingmotion information MI, the motion information generator 562 may usefullyuse pieces of data having a low frequency component among pieces ofaccumulated translation motion data TMD_acc and may usefully use piecesof data having a high frequency component among pieces of accumulatedrotation motion data RMD_acc.

Therefore, the low pass filter 565 may perform a low pass filteringoperation on adjusted translation motion data TMD_adj to generatefiltered translation motion data TMD_filt.

Moreover, the high pass filter 566 may perform a high pass filteringoperation on accumulated rotation motion data RMD_acc to generatefiltered rotation motion data RMD_filt.

FIG. 11 is a diagram illustrating a motion information generator 562according to an example embodiment. In describing the motion informationgenerator 562, description already given with reference to FIGS. 6 and10 is omitted.

In FIG. 11, unlike FIG. 6, a first filter 565 may be a first low passfilter 565, and a second filter 566 may include a second low pass filter566-1 and a subtractor 566-2. Also, unlike FIG. 10, the second filter566 that is a high pass filter may be implemented with the second lowpass filter 566-1.

The first low pass filter 565 may perform a low pass filtering operationon adjusted translation motion data TMD_adj to generate filteredtranslation motion data TMD_filt.

The second low pass filter 566-1 may perform the low pass filteringoperation on accumulated rotation motion data RMD_acc to generate lowpass rotation motion data RMD_lpf. The subtractor 566-2 may subtract thelow pass rotation motion data RMD_lpf from the accumulated rotationmotion data RMD_acc to generate filtered rotation motion data RMD_filt.Operations of the second low pass filter 566-1 and the subtractor 566-2may be provided as one operation and may represent an operation of onehigh pass filter 566.

FIG. 12 is a flowchart of a motion information generating method of anelectronic device, according to an example embodiment. FIG. 12illustrates a flowchart corresponding to the example embodiment of FIG.11. The motion information generating method will be described belowwith reference to FIG. 12 in conjunction with FIGS. 1 and 11.

In operation S310, the electronic device 10 may accumulate thetranslation motion data TMD to generate the accumulated translationmotion data TMD_acc. In an example embodiment, the first motionaccumulator 563 included in the motion information generator 562 mayaccumulate the translation motion data TMD with time to generate theaccumulated translation motion data TMD_acc.

In operation S320, the electronic device 10 may divide the accumulatedtranslation motion data TMD_acc by the focal length of the lens 520 togenerate the adjusted translation motion data TMD_adj. In an exampleembodiment, the divider 568 included in the motion information generator562 may divide the accumulated translation motion data TMD_acc by thefocal length of the lens 520 to generate the adjusted translation motiondata TMD_adj.

In operation S330, the electronic device 10 may filter the adjustedtranslation motion data TMD_adj by using the first low pass filter 565.In an example embodiment, the first low pass filter 565 included in themotion information generator 562 may perform a low pass filteringoperation on the adjusted translation motion data TMD_adj to generatethe filtered translation motion data TMD_filt.

In operation S340, the electronic device 10 may accumulate the rotationmotion data RMD to generate the accumulated rotation motion dataRMD_acc. In an example embodiment, the second motion accumulator 564included in the motion information generator 562 may accumulate therotation motion data RMD with time to generate the accumulated rotationmotion data RMD_acc.

In operation S350, the electronic device 10 may filter the accumulatedrotation motion data RMD_acc by using the second low pass filter 566-1.In an example embodiment, the second low pass filter 566-1 included inthe motion information generator 562 may perform a low pass filteringoperation on the accumulated rotation motion data RMD_acc to generatethe low pass rotation motion data RMD_lpf.

In operation S360, the electronic device 10 may subtract the low passrotation motion data RMD_lpf from the accumulated rotation motion dataRMD_acc to generate the filtered rotation motion data RMD_filt. In anexample embodiment, the subtractor 566-2 included in the motioninformation generator 562 may subtract the low pass rotation motion dataRMD_lpf from the accumulated rotation motion data RMD_acc to generatethe filtered rotation motion data RMD_filt.

In operation S370, the electronic device 10 may generate the motioninformation MI based on the filtered translation motion data TMD_filtand the filtered rotation motion data RMD_filt. In an exampleembodiment, the adder 567 included in the motion information generator562 may perform an operation of combining (e.g., summing and/oraveraging) at least a portion of the filtered translation motion dataTMD_filt and at least a portion of the filtered rotation motion dataRMD_filt to generate the motion information MI.

In operation S380, the electronic device 10 may generate a stabilizedimage based at least on the motion information MI, wherein generatingthe stabilized image compensates for the motion of the electronic devicewhile capturing the image.

FIG. 13 is a diagram illustrating an adder 567 according to an exampleembodiment. In an example embodiment, the adder 567 may include a firstadder 567-1 and a second adder 567-2.

In an example embodiment, translation motion data may include firstaxis-direction translation motion data and second axis-directiontranslation motion data, and rotation motion data may include firstaxis-direction rotation motion data, second axis-direction rotationmotion data, and third axis-direction rotation motion data. Therefore,filtered translation motion data TMD_filt may include filtered firstaxis-direction translation motion data TMD_filt_x and filtered secondaxis-direction translation motion data TMD_filt_y, and filtered rotationmotion data RMD_filt may include filtered first axis-direction rotationmotion data RMD_filt_x, filtered second axis-direction rotation motiondata RMD_filt_y, and filtered third axis-direction rotation motion dataRMD_filt_z.

The first adder 567-1 may combine (e.g., summing and/or averaging) thefirst axis-direction translation motion data TMD_filt_x and the filteredfirst axis-direction rotation motion data RMD_filt_x to generate firstaxis-direction motion information MI_x. The first axis-direction motioninformation MI_x may be referred to as first motion information.

The second adder 567-2 may combine (e.g., summing and/or averaging) thesecond axis-direction translation motion data TMD_filt_y and thefiltered second axis-direction rotation motion data RMD_filt_y togenerate second axis-direction motion information MI_y. The secondaxis-direction motion information MI_y may be referred to as secondmotion information.

The adder 567 may output the filtered third axis-direction rotationmotion data RMD_filt_z as third axis-direction motion information MI_z.The third axis-direction motion information MI_z may be referred to asthird motion information.

Finally, the adder 567 may output first axis-direction motion data MI_x,second axis-direction motion data MI_Y, and third axis-direction motiondata MI_Z as motion information MI.

FIG. 14 is a flowchart of a motion information generating method of anelectronic device, according to an example embodiment. Particularly,FIG. 14 illustrates an example embodiment where processing is performedon each of accumulated translation motion data and accumulated rotationmotion data having different frequencies. The motion informationgenerating method will be described below with reference to FIG. 14 inconjunction with FIGS. 1 and 4.

A frequency of the accumulated translation motion data TMD_acc mayrepresent a frequency corresponding to a period where new translationmotion data is accumulated, and a frequency of the accumulated rotationmotion data RMD_acc may represent a frequency corresponding to a periodwhere new rotation motion data is accumulated. In this case, in anexample embodiment, the frequency of the accumulated translation motiondata TMD_acc may correspond to an imaging frequency at which the imagesensor 540 generates the image data IMG, and the frequency of theaccumulated rotation motion data RMD_acc may be equal to a frequency atwhich the gyroscope 420 generates the rotation motion data RMD.

In operation S405, the electronic device 10 may compare the frequency ofthe accumulated translation motion data TMD_acc with the frequency ofthe accumulated rotation motion data RMD_acc and may down-sample datahaving a higher frequency to adjust a frequency of the data to a lowerfrequency. For example, when the frequency of the accumulatedtranslation motion data TMD_acc (which may be based on an imagingfrequency at which the image sensor provides image data) is higher thanthe frequency of the accumulated rotation motion data RMD_acc, theelectronic device 10 may down-sample the accumulated translation motiondata TMD_acc to adjust a frequency of data to the frequency of theaccumulated rotation motion data RMD_acc. On the other hand, when thefrequency of the accumulated rotation motion data RMD_acc is higher thanthe frequency of the accumulated translation motion data TMD_acc (whichmay be based on an imaging frequency at which the image sensor providesimage data), the electronic device 10 may down-sample the accumulatedrotation motion data RMD_acc to adjust a frequency of data to thefrequency of the accumulated translation motion data TMD_acc.

Subsequently, operations S410, S420, S440, S460, and S480 may besubstantially the same as operations S210, S220, S240, S260, and S270 ofFIG. 7, respectively.

FIG. 15 is a diagram illustrating an electronic device 1000 according toan example embodiment.

The electronic device 1000 may include, for example, all or someelements of the electronic device 10 illustrated in FIG. 1. Theelectronic device 1000 may include at least one processor (for example,an application program (AP)) 1210, a communication device 1220, asubscriber identification device 1229, a memory 1230, a sensor 1240, aninput device 1250, a display 1260, an interface 1270, an audio device1280, a camera 1291, a power management device 1295, a battery 1296, anindicator 1297, and a motor 1298.

The processor 1210 may drive, for example, an OS or an AP, to control aplurality of hardware or software elements connected to the processor1210 and may perform various processing and operations on data. Theprocessor 1210 may be implemented as, for example, a system on chip(SoC). According to an example embodiment, the processor 1210 mayfurther include a graphics processing unit (GPU) and/or an image signalprocessor. The processor 1210 may include at least some (for example, acellular device 1221) of the elements illustrated in FIG. 2. Theprocessor 1210 may load an instruction or data, received from at leastone of the other elements (for example, a non-volatile memory), into avolatile memory and may store various pieces of data in the non-volatilememory.

The communication device 1220 may have an element that is the same as orsimilar to the communication interface 170 of FIG. 1. The communicationdevice 1220 may include, for example, the cellular device 1221, a Wi-Fidevice 1222, a Bluetooth device 1223, a global navigation satellitesystem (GNSS) device (for example, a global positioning system (GPS)device, a GLONASS module, a BeiDou Navigation Satellite System (BDS)module, or a Galileo module) 1224, a near field communication (NFC)device 1225, a multi-species transport (MST) device 1226, and a radiofrequency (RF) device 1227.

The cellular device 1221 may provide, for example, a voice call, animage or video call, a text message service, or an Internet service overa communication network. According to an example embodiment, thecellular device 1221 may perform identification and authentication ofthe electronic device 1000 in the communication network by using thesubscriber identification device (for example, a subscriberidentification device (SIM) card) 1229. According to an exampleembodiment, the cellular device 1221 may perform at least some offunctions provided by the processor 1210. According to an exampleembodiment, the cellular device 1221 may include a communicationprocessor (CP).

In some example embodiments, each of the Wi-Fi device 1222, theBluetooth device 1223, the GNSS device 1224, the NFC device 1225, andthe MST device 1226 may include a processor for processing datatransmitted or received through a corresponding device. In some exampleembodiments, at least some (for example, two or more) of the Wi-Fidevice 1222, the Bluetooth device 1223, the GNSS device 1224, the NFCdevice 1225, and the MST device 1226 may be included in one integratedchip (IC) or in an IC package.

The RF device 1227 may transmit or receive, for example, a communicationsignal (for example, an RF signal). The RF device 1227 may include, forexample, a transceiver, a power amplification device (PAM), a frequencyfilter, a low noise amplifier (LNA), an antenna, or the like. In otherexample embodiments, at least one of the Wi-Fi device 1222, theBluetooth device 1223, the GNSS device 1224, the NFC device 1225, andthe MST device 1226 may transmit or receive an RF signal through aseparate RF device.

The subscriber identification device 1229 may include, for example, acard and/or an embedded SIM each including a subscriber identificationdevice. In some example embodiments, the subscriber identificationdevice 1229 may include identification information (for example, anintegrated circuit card identifier (ICCID) and/or subscriber information(for example, international mobile subscriber identity (IMSI)).

The memory 1230 may include, for example, an internal memory 1232 or anexternal memory 1234. The internal memory 1232 may include, for example,at least one of a volatile memory (for example, DRAM, SRAM, SDRAM, orthe like) and a non-volatile memory (for example, one time programmableROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, flash memory(for example, NAND flash memory) or NOR flash memory), or the like),hard drive, and SSD.

The external memory 1234 may further include flash drive (e.g., CF, SD,Micro-SD, Mini-SD, xD, multimedia card (MMC), memory stick, or thelike). The external memory 1234 may be functionally and/or physicallyconnected to the electronic device 1000 through various interfaces.

A security device 1236 may include a storage space that is higher insecurity level than the memory 1230 and may be a circuit for ensuringsafe storing of data and a protected execution environment. The securitydevice 1236 may be implemented as a separate circuit and may include aseparate processor. The security device 1236 may include, for example,an embedded security element (eSE) that is provided in an attachablesmart chip, an SD card, or a fixed chip of the electronic device 1000.Also, the security device 1236 may be driven by another OS that differsfrom the OS of the electronic device 1000. For example, the securitydevice 1236 may operate based on a java card open platform (JCOP) OS.

The sensor device 1240 may measure physical quantity or may sense anoperating state of the electronic device 1000, thereby convertingmeasured or sensed information into an electrical signal. The sensordevice 1240 may include, for example, at least one of a gesture sensor1240A, a gyro sensor 1240B, a biometric pressure sensor 1240C, amagnetic sensor 1240D, an acceleration sensor 1240E, a grip sensor1240F, a proximity sensor 1240G, a color sensor (for example, an RGBsensor) 1240H, a biosensor 1240I, a temperature/humidity sensor 1240J,an illumination sensor 1240K, and an ultraviolet (UV) sensor 1240M.Additionally or alternatively, the sensor device 1240 may include, forexample, an E-nose sensor, an electromyography (EMG) sensor, anelectroencephalogram (EEG) sensor, an electrocardiogram (ECG) sensor, aninfrared sensor, an iris sensor, and/or a fingerprint sensor. The sensordevice 1240 may further include a control circuit for controlling one ormore sensors thereof. In some example embodiments, the electronic device1000 may further include another processor that is configured as aportion of the processor 1210 or a separate element to control thesensor device 1240. While the processor 1210 is in a sleep state, theother processor may control the sensor device 1240.

The input device 1250 may include, for example, a touch panel 1252, a(digital) pen sensor 1254, a key 1256, or an ultrasonic input device1258. The touch panel 1252 may use, for example, at least one of acapacitive type, a pressure sensitive type, an infrared type, and anultrasonic type. Also, the touch panel 1252 may further include acontrol circuit. The touch panel 1252 may further include a tactilelayer, and thus, may provide a tactile reaction to a user.

The (digital) pen sensor 1254, for example, may be a portion of thetouch panel 1252 or may include a separate recognition sheet. The key1256 may include, for example, a physical button, an optical key, or akeypad. The ultrasonic input device 1258 may sense, through a microphone1288, an ultrasonic wave generated in an input tool to check datacorresponding to the sensed ultrasonic wave.

The display 1260 may include a panel 1262, a hologram device 1264, or aprojector 1266. The panel 1262 may be implemented to be flexible,transparent, or wearable. The panel 1262 may be configured as one deviceincluding the touch panel 1252. The hologram device 1264 may display astereoscopic image on a space by using interference of light. Theprojector 1266 may project light onto a screen to display an image. Thescreen may be located inside or outside, for example, the electronicdevice 1000. In an example embodiment, the panel 1262 may include apressure sensor (or a force sensor) for measuring an intensity ofpressure of a user touch. The pressure sensor may be implemented as onebody with the touch panel 1252, or may be implemented as one or moresensors independent of the touch panel 1252. In an example embodiment,the display 1260 may further include a control circuit for controllingthe panel 1262, the hologram device 1264, or the projector 1266.

The interface 1270 may include, for example, a high definitionmultimedia interface (HDMI) 1272, a universal serial bus (USB) 1274, anoptical interface 1276, or a D-subminiature (D-sub) interface 1279.Additionally or alternatively, the interface 1270 may include, forexample, a mobile high-definition link (MHIL) interface, a securedigital (SD) card/multimedia card (MMC) interface, or infrared dataassociation (IrDA) interface.

The audio device 1280 may convert, for example, a sound and anelectrical signal in a two-way direction. The audio device 1280 mayprocess, for example, sound information input or output through aspeaker 1282, a receiver 1284, an earphone 1286, or the microphone 1288.

The camera 1291 may be, for example, capable of capturing a still imageand/or a moving image. In an example embodiment, the camera 1291 mayinclude one or more image sensors (for example, a front sensor or a rearsensor), a lens, an image signal processor (ISP), or a flash (forexample, a light-emitting diode (LED) or a xenon lamp). The camera 1291,as described above with reference to FIGS. 1 to 14, may perform an imagestabilizing operation.

The power management device 1295 may manage, for example, power of theelectronic device 1000. In an example embodiment, the power managementdevice 1295 may include a power management integrated circuit (PMIC), acharger integrated circuit (IC), or a battery or fuel gauge. The PMICmay have a wired and/or wireless charging type. A wireless charging typemay include, for example, a magnetic resonance type, a magneticinduction type, or an electromagnetic wave type. The power managementdevice 1295 may further include an additional circuit (for example, acoil loop, a resonant circuit, or a rectifier) for wireless charging.The battery or fuel gauge may measure, for example, a remainingcapacity, a voltage charged, a current, or a temperature of the battery1296. The battery 1296 may include, for example, a rechargeable batteryand/or a solar battery.

The indicator 1297 may display a certain state (for example, a bootingstate, a message state, a charging state, or the like) of the electronicdevice 1000 or each of some elements (for example, the processor 1210)of the electronic device 1000. The motor 1298 may receive an electricalsignal and produce mechanical output, such as a vibration or a hapticeffect. Although not shown, the electronic device 1000 may include aprocessing device (for example, a GPU) for supporting a mobiletelevision (TV). A processing device for supporting the mobile TV mayprocess, for example, media data for digital multimedia broadcasting(DMB), digital video broadcasting (DVB), or Media FLO™.

While the present disclosure has been particularly shown and describedwith reference to example embodiments thereof, it will be understoodthat various changes in form and details may be made therein withoutdeparting from the spirit and scope of the following claims.

What is claimed is:
 1. An electronic device comprising: an image sensorconfigured to receive light transmitted through a lens and to generateimage data; a gyroscope configured to generate rotation motion data ofthe electronic device; and an image stabilizer configured to, generatetranslation motion data of the electronic device based on the image datareceived from the image sensor, perform a first filtering operation onthe translation motion data to generate filtered translation motiondata, perform a second filtering operation on the rotation motion datareceived from the gyroscope to generate filtered rotation motion data,and generate a stabilized image based at least on the filteredtranslation motion data and the filtered rotation motion data, whereinthe stabilized image compensates for motion of the electronic devicewhile capturing an image.
 2. The electronic device of claim 1, whereinthe image stabilizer is configured to accumulate the translation motiondata to generate accumulated translation motion data having aone-dimensional matrix form and to perform the first filtering operationon the accumulated translation motion data to generate the filteredtranslation motion data.
 3. The electronic device of claim 1, whereinthe image stabilizer is configured to accumulate the translation motiondata to generate accumulated translation motion data having aone-dimensional matrix form, and to divide the accumulated translationmotion data by a focal length of the lens and perform the firstfiltering operation to generate the filtered translation motion data. 4.The electronic device of claim 1, wherein the image stabilizer isconfigured to accumulate the rotation motion data to generateaccumulated rotation motion data having a one-dimensional matrix formand to perform the second filtering operation on the accumulatedrotation motion data to generate the filtered rotation motion data. 5.The electronic device of claim 4, wherein, the first filtering operationis a first low pass filtering operation, and the image stabilizer isconfigured to perform a second low pass filtering operation on theaccumulated rotation motion data to generate low pass rotation motiondata and to subtract the low pass rotation motion data from theaccumulated rotation motion data to generate the filtered rotationmotion data.
 6. The electronic device of claim 1, wherein the firstfiltering operation and the second filtering operation are complementaryfiltering operations.
 7. The electronic device of claim 1, wherein, thefirst filtering operation is a low pass filtering operation, and thesecond filtering operation is a high pass filtering operation.
 8. Theelectronic device of claim 1, wherein the image stabilizer includes, amotion estimator configured to generate the translation motion data,based on the image data, a motion information generator configured toaccumulate the translation motion data received from the motionestimator, perform the first filtering operation on accumulatedtranslation motion data to generate the filtered translation motiondata, perform the second filtering operation on the rotation motion datareceived from the gyroscope to generate the filtered rotation motiondata, and generate motion information based at least on the filteredtranslation motion data and the filtered rotation motion data, and amotion compensator configured to compensate for a motion of theelectronic device with respect to the image data to generate compensatedimage data, based on the motion information received from the motioninformation generator.
 9. The electronic device of claim 1, wherein, thetranslation motion data comprises first axis-direction translationmotion data and second axis-direction translation motion data, and therotation motion data comprises first axis-direction rotation motiondata, second axis-direction rotation motion data, and thirdaxis-direction rotation motion data.
 10. The electronic device of claim9, wherein, the filtered translation motion data comprises filteredfirst axis-direction translation motion data and filtered secondaxis-direction translation motion data, the filtered rotation motiondata comprises filtered first axis-direction rotation motion data,filtered second axis-direction rotation motion data, and filtered thirdaxis-direction rotation motion data, and the image stabilizer isconfigured to combine the filtered first axis-direction translationmotion data and the filtered first axis-direction rotation motion datato generate first motion information, combine the filtered secondaxis-direction translation motion data and the filtered secondaxis-direction rotation motion data to generate second motioninformation, and generate the filtered third axis-direction rotationmotion data as third motion information.
 11. The electronic device ofclaim 1, wherein the image stabilizer is configured to, compare asensing frequency of the gyroscope with an imaging frequency at whichthe image sensor provides the image data, on condition of the imagingfrequency being higher than the sensing frequency, down-sample thetranslation motion data, and on condition of the sensing frequency beinghigher than the imaging frequency, down-sample the rotation motion data.12. The electronic device of claim 1, wherein an operation of the imagestabilizer is configured to be activated in response to the electronicdevice starting one of a moving image photographing operation, a timelapse photographing operation, and a panorama photographing operationeach using the lens.
 13. A camera comprising: a lens; a gyroscopeconfigured to generate rotation motion data; an image sensor configuredto generate image data from light transmitted through the lens; and animage stabilizer configured to, generate translation motion data basedon the image data received from the image sensor, perform a firstfiltering operation on the translation motion data to generate filteredtranslation motion data, receive the rotation motion data from thegyroscope, perform a second filtering operation on the rotation motiondata to generate filtered rotation motion data, and generate astabilized image based at least on the filtered translation motion dataand the filtered rotation motion data, wherein the stabilized imagecompensates for rotational and/or translational motion of the camerawhile capturing an image.
 14. The camera of claim 13, wherein the imagestabilizer is configured to, generate accumulated translation motiondata, divide the accumulated translation motion data by a focal lengthof the lens to generate adjusted translation motion data, perform thefirst filtering operation on the adjusted translation motion data togenerate the filtered translation motion data, generate accumulatedrotation motion data, and perform the second filtering operation, havinga complementary relationship with the first filtering operation, on theaccumulated rotation motion data to generate the filtered rotationmotion data.
 15. The camera of claim 14, wherein, the first filteringoperation is a low pass filtering operation, and the second filteringoperation is a high pass filtering operation.
 16. An image stabilizingmethod of an electronic device including a lens, the image stabilizingmethod comprising: receiving image data based on light transmittedthrough the lens; accumulating translation motion data based on theimage data to generate accumulated translation motion data; filtering,using a first filter, the accumulated translation motion data togenerate filtered translation motion data; accumulating rotation motiondata obtained by a gyroscope to generate accumulated rotation motiondata; filtering, using a second filter, the accumulated rotation motiondata to generate filtered rotation motion data; and generating astabilized image based at least on the filtered translation motion dataand the filtered rotation motion data, wherein the stabilized imagecompensates for motion of the electronic device while capturing animage.
 17. The image stabilizing method of claim 16, wherein, each ofthe accumulated translation motion data and the accumulated rotationmotion data is data having a one-dimensional matrix form, and thegenerating of the filtered translation motion data comprises dividingthe accumulated translation motion data by a focal length of the lens togenerate adjusted translation motion data and filtering, by using thefirst filter, the adjusted translation motion data having theone-dimensional matrix form.
 18. The image stabilizing method of claim16, wherein, the first filter comprises a low pass filter, and thesecond filter comprises a high pass filter.
 19. The image stabilizingmethod of claim 18, wherein, each of the accumulated translation motiondata and the accumulated rotation motion data is data having aone-dimensional matrix form, and the generating of the filtered rotationmotion data includes, filtering, by using a second low pass filter, theaccumulated rotation motion data having the one-dimensional matrix formto generate low pass rotation motion data; and subtracting the low passrotation motion data from the accumulated rotation motion data togenerate the filtered rotation motion data.
 20. The image stabilizingmethod of claim 16, wherein, the filtered translation motion datacomprises filtered first axis-direction translation motion data andfiltered second axis-direction translation motion data, the filteredrotation motion data comprises filtered first axis-direction rotationmotion data, filtered second axis-direction rotation motion data, andfiltered third axis-direction rotation motion data, the imagestabilizing method further includes, combining the filtered firstaxis-direction translation motion data and the filtered firstaxis-direction rotation motion data to generate first motioninformation, combining the filtered second axis-direction translationmotion data and the filtered second axis-direction rotation motion datato generate second motion information, generating the filtered thirdaxis-direction rotation motion data as third motion information, andgenerating the stabilized image is based at least on the first motioninformation, the second motion information, and the third motioninformation.